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Informations générales |
| Auteur |
Hernández-Santos, C.; Rodriguez-Leal, Ernesto; Soto, R.; Gordillo, J.L. |
| Publié |
InTech Open Access Publisher, 2012
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| Abstract |
Humanoid biped robots are typically complex
in design, having numerous Degrees‐of‐Freedom (DOF)
due to the ambitious goal of mimicking the human gait.
The paper proposes a new architecture for a biped robot
with seven DOF per each leg and one DOF
corresponding to the toe joint. Furthermore, this work
presents close equations for the forward and inverse
kinematics by dividing the walking gait into the Sagittal
and Frontal planes. This paper explains the
mathematical model of the dynamics equations for the
legs into the Sagittal and Frontal planes by further
applying the principle of Lagrangian dynamics. Finally,
a control approach using a PD control law with gravity
compensation was recurred in order to control the
desired trajectories and finding the required torque by
the joints. The paper contains several simulations and
numerical examples to prove the analytical results,
using SimMechanics of MATLAB toolbox and
SolidWorks to verify the analytical results. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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